A workspace optimization approach to manipulator linkage design

The manipulator design problem is discussed. A method is presented for the calculation of workspace volume of generalized manipulators which include both revolute and prismatic joints. For a fixed length of generalized manipulator including both types of joints, optimization of workspace volume leads to specific manipulator configurations. Industrial robot manipulators resemble the optimized configurations, and so do animal limbs when the first three joints are revolute. Two of the optimized manipulators, however, do not have parallels in industry.